version: 66.08
glider: 166
mission: 3
dive: 430
start: 11 2 110 12 44 24
data:
$ID,166
$MISSION,3
$DIVE,430
$N_DIVES,431
$D_SURF,3
$D_FLARE,5
$D_TGT,1000
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,240
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51913
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22096.584
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,3072
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,9
$FG_AHR_24V,22
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.567585
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043148831
$SEABIRD_T_H,0.00063078973
$SEABIRD_T_I,2.2916694e-05
$SEABIRD_T_J,2.2962076e-06
$SEABIRD_C_G,-9.9893045
$SEABIRD_C_H,1.1222894
$SEABIRD_C_I,-0.0015891744
$SEABIRD_C_J,0.00020161238
$GPS1,021110,123624,2129.273,12605.455,41,0.9,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.1
$GPS2,021110,124402,2129.265,12605.469,13,1.4,13,-2.9
$SPEED_LIMITS,0.241,0.344
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,210.0,15992,-19.7,-13.889
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.16,-214.1,0.0,0.0,0,115,0.00,0.00,-95.75,0.000,2,0.000,0.000,144,1769,3273,0,0,0,0,0,0
$GC,118,-1.16,-214.1,5.3,-10.7,13,149,9.38,2.17,-13.05,0.000,4,0.231,0.057,2460,385,3947,0,0,0,0,0,0
$GC,386,-0.85,-214.1,110.0,-39.9,62,395,0.35,2.20,0.00,0.000,6,0.162,0.046,2557,1794,3950,0,0,0,0,0,0
$GC,718,-0.78,-214.1,186.4,-18.4,123,727,0.10,2.17,0.00,0.000,4,0.193,0.049,2582,396,3953,0,0,0,0,0,0
$GC,775,-0.75,-214.1,197.4,-18.4,132,783,0.00,2.17,0.00,0.000,6,0.000,0.044,2577,1796,3953,0,0,0,0,0,0
$GC,1109,-0.74,-214.1,255.5,-15.4,193,1116,0.00,2.20,0.00,0.000,4,0.000,0.050,2577,392,3954,0,0,0,0,0,0
$GC,1146,-0.74,-214.1,261.4,-15.7,199,1154,0.12,2.17,0.00,0.000,6,0.167,0.044,2600,1811,3954,0,0,0,0,0,0
$GC,1481,-0.78,-214.1,302.7,-11.8,258,1485,0.00,2.20,0.00,0.000,4,0.000,0.051,2600,398,3954,0,0,0,0,0,0
$GC,1517,-0.84,-214.1,307.2,-12.5,261,1521,0.00,2.15,0.00,0.000,6,0.000,0.044,2593,1799,3954,0,0,0,0,0,0
$GC,1844,-0.89,-214.1,346.8,-10.7,291,1846,0.12,0.00,0.00,0.000,6,0.090,0.000,2528,1800,3953,0,0,0,0,0,0
$GC,2163,-0.83,-214.1,400.7,-18.0,321,2167,0.15,2.22,0.00,0.000,4,0.169,0.051,2567,393,3952,0,0,0,0,0,0
$GC,2218,-0.85,-214.1,409.8,-14.9,326,2222,0.00,2.17,0.00,0.000,6,0.000,0.044,2563,1806,3952,0,0,0,0,0,0
$GC,2545,-0.87,-214.1,454.7,-12.7,356,2549,0.00,2.22,0.00,0.000,4,0.000,0.050,2563,391,3950,0,0,0,0,0,0
$GC,2600,-0.90,-214.1,462.4,-13.1,360,2608,0.00,2.20,0.00,0.000,6,0.000,0.046,2561,1796,3950,0,0,0,0,0,0
$GC,2926,-0.92,-214.1,502.8,-12.8,391,2930,0.00,2.17,0.00,0.000,4,0.000,0.051,2551,3209,3948,0,0,0,0,0,0
$GC,2970,-0.98,-214.1,508.5,-11.5,394,2977,0.00,2.15,0.00,0.000,6,0.000,0.037,2551,1791,3947,0,0,0,0,0,0
$GC,3296,-0.98,-214.1,551.4,-13.2,425,3300,0.00,2.17,0.00,0.000,4,0.000,0.054,2551,396,3945,0,0,0,0,0,0
$GC,3370,-1.01,-214.1,561.7,-13.2,431,3375,0.00,2.15,0.00,0.000,6,0.000,0.046,2549,1802,3945,0,0,0,0,0,0
$GC,3701,-1.01,-214.1,606.9,-13.4,460,3705,0.00,2.20,0.00,0.000,4,0.000,0.056,2549,3213,3941,0,0,0,0,0,0
$GC,3742,-1.06,-214.1,611.9,-12.3,462,3746,0.15,2.12,0.00,0.000,6,0.077,0.038,2476,1803,3942,0,0,0,0,0,0
$GC,4072,-0.98,-214.1,673.0,-19.6,478,4077,0.17,2.22,0.00,0.000,4,0.175,0.054,2523,391,3938,0,0,0,0,0,0
$GC,4138,-0.98,-214.1,685.3,-15.3,481,4142,0.00,2.17,0.00,0.000,6,0.000,0.046,2516,1800,3938,0,0,0,0,0,0
$GC,4466,-0.95,-214.1,735.7,-15.2,497,4470,0.00,2.20,0.00,0.000,4,0.000,0.054,2515,396,3934,0,0,0,0,0,0
$GC,4501,-0.92,-214.1,741.4,-16.6,498,4508,0.12,2.20,0.00,0.000,6,0.176,0.047,2540,1810,3934,0,0,0,0,0,0
$GC,4817,-0.94,-214.1,783.4,-12.8,514,4821,0.00,2.22,0.00,0.000,4,0.000,0.061,2540,394,3930,0,0,0,0,0,0
$GC,4888,-0.97,-214.1,792.7,-13.0,517,4892,0.00,2.20,0.00,0.000,6,0.000,0.049,2539,1803,3930,0,0,0,0,0,0
$GC,5215,-0.98,-214.1,834.9,-12.7,533,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1803,3927,0,0,0,0,0,0
$GC,5527,-1.00,-214.1,874.5,-12.7,548,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1803,3925,0,0,0,0,0,0
$GC,5834,-1.03,-214.1,913.4,-12.5,563,5838,0.00,2.25,0.00,0.000,4,0.000,0.058,2539,388,3922,0,0,0,0,0,0
$GC,5865,-1.03,-214.1,917.8,-14.0,564,5870,0.00,2.22,0.00,0.000,6,0.000,0.050,2531,1809,3921,0,0,0,0,0,0
$GC,6191,-1.03,-214.1,958.2,-12.4,580,6195,0.00,2.22,0.00,0.000,4,0.000,0.057,2532,395,3918,0,0,0,0,0,0
$GC,6236,-1.03,-214.1,964.8,-13.8,582,6240,0.00,2.20,0.00,0.000,6,0.000,0.050,2523,1800,3918,0,0,0,0,0,0
$STATE,6514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6514,begin apogee
$GC,6522,-0.23,0.0,1001.3,13.2,596,6713,0.75,0.00,186.15,1.443,6,0.136,0.000,2766,1749,3072,0,0,0,0,0,0
$STATE,6714,end apogee,CONTROL_FINISHED_OK
$STATE,6714,begin climb
$GC,6717,1.16,214.1,1008.8,0.0,605,6930,1.27,2.47,201.38,1.382,4,0.057,0.057,3212,3161,2198,0,0,0,0,0,0
$GC,6969,0.86,214.1,960.7,30.2,616,6977,0.40,2.30,0.00,0.000,6,0.201,0.044,3124,1750,2196,0,0,0,0,0,0
$GC,7286,0.66,214.1,886.2,23.3,632,7288,0.25,0.00,0.00,0.000,6,0.179,0.000,3055,1749,2192,0,0,0,0,0,0
$GC,7597,0.55,214.1,832.1,17.1,647,7599,0.12,0.00,0.00,0.000,6,0.183,0.000,3020,1750,2190,0,0,0,0,0,0
$GC,7904,0.49,214.1,786.1,14.3,662,7908,0.00,2.17,0.00,0.000,4,0.000,0.052,3020,3161,2188,0,0,0,0,0,0
$GC,7928,0.43,214.1,782.6,14.6,663,7933,0.17,2.17,0.00,0.000,6,0.171,0.042,2983,1739,2187,0,0,0,0,0,0
$GC,8251,0.52,287.1,747.1,10.7,679,8323,0.00,2.33,66.35,1.271,4,0.000,0.057,2991,345,1901,0,0,0,0,0,0
$GC,8375,0.63,337.9,732.9,11.7,684,8429,0.15,2.22,48.03,1.228,6,0.079,0.043,3059,1757,1694,0,0,0,0,0,0
$GC,8751,0.56,337.9,662.4,19.3,703,8756,0.15,2.17,0.00,0.000,4,0.174,0.054,3014,3164,1688,0,0,0,0,0,0
$GC,8826,0.58,337.9,650.5,14.5,706,8830,0.00,2.17,0.00,0.000,6,0.000,0.043,3023,1746,1686,0,0,0,0,0,0
$GC,9148,0.58,337.9,600.5,15.9,722,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1746,1685,0,0,0,0,0,0
$GC,9469,0.58,337.9,550.8,14.7,751,9473,0.00,2.20,0.00,0.000,4,0.000,0.056,3034,338,1684,0,0,0,0,0,0
$GC,9497,0.58,337.9,546.0,15.0,753,9501,0.00,2.15,0.00,0.000,6,0.000,0.041,3034,1753,1682,0,0,0,0,0,0
$GC,9824,0.58,337.9,496.6,14.9,783,9828,0.00,2.17,0.00,0.000,4,0.000,0.052,3034,3165,1681,0,0,0,0,0,0
$GC,9882,0.58,337.9,488.4,13.9,788,9886,0.00,2.17,0.00,0.000,6,0.000,0.042,3042,1744,1681,0,0,0,0,0,0
$GC,10208,0.56,337.9,440.8,15.2,818,10212,0.00,2.20,0.00,0.000,4,0.000,0.054,3053,338,1680,0,0,0,0,0,0
$GC,10250,0.56,337.9,434.8,14.8,821,10255,0.12,2.17,0.00,0.000,6,0.163,0.041,3021,1751,1680,0,0,0,0,0,0
$GC,10582,0.62,366.4,393.9,12.7,852,10618,0.00,2.28,25.05,0.995,4,0.000,0.050,3020,3169,1577,0,0,0,0,0,0
$GC,10669,0.71,389.9,383.2,12.9,859,10698,0.10,2.17,22.73,0.967,6,0.095,0.040,3085,1749,1481,0,0,0,0,0,0
$GC,11026,0.65,389.9,314.3,18.6,892,11031,0.12,2.20,0.00,0.000,4,0.175,0.054,3062,346,1478,0,0,0,0,0,0
$GC,11083,0.67,389.9,304.8,14.8,897,11087,0.00,2.15,0.00,0.000,6,0.000,0.037,3059,1761,1477,0,0,0,0,0,0
$GC,11410,0.67,389.9,253.7,15.8,954,11418,0.00,2.15,0.00,0.000,4,0.000,0.048,3059,3156,1478,0,0,0,0,0,0
$GC,11495,0.75,414.1,241.9,12.8,969,11524,0.00,2.12,22.38,0.846,6,0.000,0.038,3057,1749,1383,0,0,0,0,0,0
$GC,11850,0.75,414.1,194.1,14.3,1033,11857,0.00,2.17,0.00,0.000,4,0.000,0.052,3066,343,1382,0,0,0,0,0,0
$GC,11899,0.79,414.1,186.8,14.2,1041,11906,0.00,2.12,0.00,0.000,6,0.000,0.034,3066,1755,1381,0,0,0,0,0,0
$GC,12234,0.85,443.3,143.1,12.6,1102,12272,0.12,2.17,26.67,0.757,4,0.084,0.044,3135,3152,1263,0,0,0,0,0,0
$GC,12343,0.83,443.3,125.3,17.3,1119,12353,0.10,2.15,0.00,0.000,6,0.146,0.038,3113,1756,1263,0,0,0,0,0,0
$GC,12678,0.93,497.1,81.2,11.6,1180,12730,0.00,2.30,46.35,0.704,4,0.000,0.051,3122,339,1044,0,0,0,0,0,0
$GC,12778,1.06,542.3,69.0,11.9,1195,12824,0.12,2.17,39.35,0.677,6,0.043,0.034,3199,1756,860,0,0,0,0,0,0
$STATE,13077,end climb,SURFACE_DEPTH_REACHED
$STATE,13078,begin surface coast
$FINISH,0.9,1.022139
$STATE,13090,end surface coast,CONTROL_FINISHED_OK
$STATE,13090,begin surface
$SM_CCo,13167,0.00,0.000,0,0,856,543.58
$SM_GC,1.67,7.90,0.00,0.00,0.037,0.000,0.000,149,1760,856,-8.33,-1.13,543.58
$IRIDIUM_FIX,2122.58,12607.26,021110,080819
$TT8_MAMPS,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,8.70609
$TCM_TEMP,24.80
$XPDR_PINGS,104
$24V_AH,22.1,80.932
$10V_AH,10.1,51.410
$FG_AHR_24Vo,22.000
$FG_AHR_10Vo,9.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.550,118.725,684.425,0.000,0.000,31.167,40.277,205.107,26.000,0.000,14.230,3087.174,6344.742,679.690,3071.879,426.418,0.000,1909.584,0.000,2797.187,0.000,0.846,0.000
$DEVICE_MAMPS,231.030,117.045,1442.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.100,1079.705,1407.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,73438,1251
$CAP_FILE_SIZE,151794,0
$CFSIZE,260165632,153985024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,133.2,1
$GPS,021110,162507,2127.209,12604.985,38,1.4,38,-2.9